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Chapter 02

Basics of Animation and Forward Kinematics

Page 6



Consider the following arm position: 

L1 = 110.0; % Link Length in mm
L2 = 140.0; % Link Length in mm

lx(1) = 0.0;
ly(1) = 0.0;

lx(2) = lx(1);
ly(2) = ly(1) + L1;

lx(3) = lx(2) - L2;
ly(3) = ly(2);

Where will be the tip of the gripper?
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Tip of Gripper

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